cmake_minimum_required(VERSION 3.0.2)
project(obstacle_detector)


# trt_version > 8 
set(NVINFER_INCLUDE_DIR "/usr/src/TensorRT/include")
find_file(NV_H_FOUND NvInferVersion.h PATHS ${NVINFER_INCLUDE_DIR})
if(NOT NV_H_FOUND)
    message(FATAL_ERROR "nv.h not found!")
endif()
file(STRINGS ${NV_H_FOUND} NV_H_CONTENTS REGEX "NV_TENSORRT_MAJOR ([0-9]+)")
if(NV_H_CONTENTS MATCHES "NV_TENSORRT_MAJOR ([0-9]+)")
    set(TENSORRT_MAJOR_VERSION ${CMAKE_MATCH_1})
    message(STATUS "Found TensorRT major version: ${TENSORRT_MAJOR_VERSION}")
else()
    message(FATAL_ERROR "Failed to extract TensorRT major version from nv.h")
endif()
# and gpu >30
# execute_process(
#   COMMAND nvidia-smi --query-gpu=name --format=csv,noheader,nounits
#   OUTPUT_VARIABLE GPU_INFO
#   OUTPUT_STRIP_TRAILING_WHITESPACE
#   ERROR_QUIET
# )   
# message("******************  Detected GPU: ${GPU_INFO}   ***********************")
# NVIDIA GeForce RTX 3060
# string(REGEX MATCH "[0-9]+" GPU_NUMBER "${GPU_INFO}")
# math(EXPR GPU_NUMBER_INT "${GPU_NUMBER}")
# if(GPU_NUMBER_INT GREATER 3000 AND TENSORRT_MAJOR_VERSION GREATER 7)
if(TENSORRT_MAJOR_VERSION GREATER 7)
    message(STATUS "******************  NV_TENSORRT_MAJOR >  7. start CMake execution.")
    set(CMAKE_BUILD_TYPE "Release")
    ## Compile as C++11, supported in ROS Kinetic and newer
    # add_compile_options(-std=c++11)

    ## Find catkin macros and libraries
    ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
    ## is used, also find other catkin packages
    find_package(catkin REQUIRED COMPONENTS
    logger
    math
    module_base
    nodelet
    pc_conversion
    pc_downsample
    qomolo_msgs
    roscpp
    rospy
    sensor_msgs
    tf
    bevfusion_trt_lib
    lanelet2_projection
    lanelet2_routing
    lanelet2_traffic_rules
    lanelet2_validation
    lanelet2_core
    lanelet2_io
    lanelet2_maps
    lanelet2_python
    cuda_base
    )

    ## System dependencies are found with CMake's conventions
    # find_package(Boost REQUIRED COMPONENTS system)
    find_package(Pangolin REQUIRED)
    find_package(CUDA REQUIRED)
    find_package(Eigen3 REQUIRED)

    set(CUDA_NVCC_FLAGS
    ${CUDA_NVCC_FLAGS};
    -gencode arch=compute_72,code=sm_72 
    -gencode arch=compute_72,code=compute_72
    )




    ## Uncomment this if the package has a setup.py. This macro ensures
    ## modules and global scripts declared therein get installed
    ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
    # catkin_python_setup()

    ################################################
    ## Declare ROS messages, services and actions ##
    ################################################

    ## To declare and build messages, services or actions from within this
    ## package, follow these steps:
    ## * Let MSG_DEP_SET be the set of packages whose message types you use in
    ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
    ## * In the file package.xml:
    ##   * add a build_depend tag for "message_generation"
    ##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
    ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
    ##     but can be declared for certainty nonetheless:
    ##     * add a exec_depend tag for "message_runtime"
    ## * In this file (CMakeLists.txt):
    ##   * add "message_generation" and every package in MSG_DEP_SET to
    ##     find_package(catkin REQUIRED COMPONENTS ...)
    ##   * add "message_runtime" and every package in MSG_DEP_SET to
    ##     catkin_package(CATKIN_DEPENDS ...)
    ##   * uncomment the add_*_files sections below as needed
    ##     and list every .msg/.srv/.action file to be processed
    ##   * uncomment the generate_messages entry below
    ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

    ## Generate messages in the 'msg' folder
    # add_message_files(
    #   FILES
    #   Message1.msg
    #   Message2.msg
    # )

    ## Generate services in the 'srv' folder
    # add_service_files(
    #   FILES
    #   Service1.srv
    #   Service2.srv
    # )

    ## Generate actions in the 'action' folder
    # add_action_files(
    #   FILES
    #   Action1.action
    #   Action2.action
    # )

    ## Generate added messages and services with any dependencies listed here
    # generate_messages(
    #   DEPENDENCIES
    #   qomolo_msgs#   sensor_msgs
    # )

    ################################################
    ## Declare ROS dynamic reconfigure parameters ##
    ################################################

    ## To declare and build dynamic reconfigure parameters within this
    ## package, follow these steps:
    ## * In the file package.xml:
    ##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
    ## * In this file (CMakeLists.txt):
    ##   * add "dynamic_reconfigure" to
    ##     find_package(catkin REQUIRED COMPONENTS ...)
    ##   * uncomment the "generate_dynamic_reconfigure_options" section below
    ##     and list every .cfg file to be processed

    ## Generate dynamic reconfigure parameters in the 'cfg' folder
    # generate_dynamic_reconfigure_options(
    #   cfg/DynReconf1.cfg
    #   cfg/DynReconf2.cfg
    # )

    ###################################
    ## catkin specific configuration ##
    ###################################
    ## The catkin_package macro generates cmake config files for your package
    ## Declare things to be passed to dependent projects
    ## INCLUDE_DIRS: uncomment this if your package contains header files
    ## LIBRARIES: libraries you create in this project that dependent projects also need
    ## CATKIN_DEPENDS: catkin_packages dependent projects also need
    ## DEPENDS: system dependencies of this project that dependent projects also need
    catkin_package(
    INCLUDE_DIRS include
    LIBRARIES obstacle_detector
    CATKIN_DEPENDS logger math module_base nodelet pc_conversion pc_downsample qomolo_msgs roscpp rospy sensor_msgs tf bevfusion_trt_lib lanelet2_projection lanelet2_routing lanelet2_traffic_rules lanelet2_validation lanelet2_core lanelet2_io lanelet2_maps lanelet2_python cuda_base
    DEPENDS system_lib
    )

    ###########
    ## Build ##
    ###########

    ## Specify additional locations of header files
    ## Your package locations should be listed before other locations
    include_directories(
    include
    ${catkin_INCLUDE_DIRS}
    /data/cv_test/welldriver/src/perception/fusion_perception/bevfusion_trt_lib/bevfusion
    )
    link_directories(
    /usr/local/cuda/lib64
    /usr/src/TensorRT/lib
    /usr/src/libraries/3DSparseConvolution/libspconv/lib/x86_64
    )

    ## Declare a C++ library
    cuda_add_library(obstacle_detector
    src/obstacle_detector_nodelet.cpp
    src/obstacle_detector.cu
    src/pointcloud_filter.cu
    src/map_processor.cu
    src/bbox_processor.cu
    src/debug_display.cpp
    src/util.cpp
    src/bbox_util.cpp
    src/trajectory_predictor.cpp
    src/collision_detector.cu
    src/convexhull_display.cpp
    src/convex_hull.cu
    )

    target_link_libraries(obstacle_detector 
    ${catkin_LIBRARIES} 
    Eigen3::Eigen
    ${Pangolin_LIBRARIES}
    )

    ## Add cmake target dependencies of the library
    ## as an example, code may need to be generated before libraries
    ## either from message generation or dynamic reconfigure
    # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

    ## Declare a C++ executable
    ## With catkin_make all packages are built within a single CMake context
    ## The recommended prefix ensures that target names across packages don't collide
    # add_executable(${PROJECT_NAME}_node src/obstacle_detector_node.cpp)

    ## Rename C++ executable without prefix
    ## The above recommended prefix causes long target names, the following renames the
    ## target back to the shorter version for ease of user use
    ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
    # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

    ## Add cmake target dependencies of the executable
    ## same as for the library above
    # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

    ## Specify libraries to link a library or executable target against
    # target_link_libraries(${PROJECT_NAME}_node
    #   ${catkin_LIBRARIES}
    # )

    #############
    ## Install ##
    #############

    # all install targets should use catkin DESTINATION variables
    # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

    ## Mark executable scripts (Python etc.) for installation
    ## in contrast to setup.py, you can choose the destination
    # catkin_install_python(PROGRAMS
    #   scripts/my_python_script
    #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
    # )

    ## Mark executables for installation
    ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
    # install(TARGETS ${PROJECT_NAME}_node
    #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
    # )

    ## Mark libraries for installation
    ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
    # install(TARGETS ${PROJECT_NAME}
    #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    #   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
    # )

    ## Mark cpp header files for installation
    # install(DIRECTORY include/${PROJECT_NAME}/
    #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
    #   FILES_MATCHING PATTERN "*.h"
    #   PATTERN ".svn" EXCLUDE
    # )

    ## Mark other files for installation (e.g. launch and bag files, etc.)
    # install(FILES
    #   # myfile1
    #   # myfile2
    #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
    # )

    install(TARGETS obstacle_detector
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
    )

    install(DIRECTORY launch/
          DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
          FILES_MATCHING PATTERN "*.launch"
    )

    install(DIRECTORY weights/
          DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/weights
    )

    install(FILES nodelet_plugins.xml
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
    )

    install(DIRECTORY include/
    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
    FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
    PATTERN ".svn" EXCLUDE
    )


else()
  message("******************NV_TENSORRT_MAJOR is < 8 . Stopping CMake execution.")
endif()
